Methods to Characterize the Real-World Use of Rollators Using Inertial Sensors-A Feasibility Study

Rollators are widely used by people with mobility problems, but previous studies have been limited to self-report approaches when evaluating their real-world effectiveness. To support studies based on more robust datasets, a method to estimate mobility parameters, such as gait speed and distance traveled, in the real world is needed. Body-worn sensors offer one approach to the problem, but rollator-mounted sensors have some practical advantages providing direct insight into patterns of walking device used, an under-researched area. We present a novel method to estimate speed and distance traveled from a single rollator-mounted IMU. The method was developed using data collected from ten rollator users performing a series of walking tasks including obstacle negotiation. The IMU data is first pre-processed to account for noise, orientation offset, and rotation-induced accelerations. The method then uses a two-stage approach. First, activity classification is used to separate the rollator data into one of three classes (movement, turning, or other). Subsequently, the speed of movement and distance traveled is estimated, using a separate estimation model for each of the three classes. The results showed high classification accuracy (precision, recall, and F1 statistics all >0.9). Speed estimation showed mean absolute errors below 0.2 m/s. Estimates for distance traveled showed errors which ranged from 5% (straight line walking) to over 70%. The results showed some promise but further work with a larger data set is needed to confirm the performance of our approach.